Emergency positioning communication buoy device and method for small underwater vehicle

Abstract

The invention relates to the technical field of vehicle communication buoys, and particularly discloses an emergency positioning communication buoy device and method for a small underwater vehicle, the emergency positioning communication buoy device comprises the underwater vehicle and an emergency self-rescue device mounted on the underwater vehicle, a motor is mounted in the emergency self-rescue device, and an output shaft of the motor is connected with a rope pulling roller in a rope pulling box; an optical fiber thin rope is wound on the rope pulling roller, one end of the optical fiber thin rope is connected with a buoy device, two partition plates are installed in the buoy device, the two partition plates divide the buoy device into three cavities which are the cavity A, the cavity B and the cavity C in sequence from top to bottom, and a battery B is installed at the bottom of the cavity B; the buoy which moves along with the underwater vehicle and is internally provided with the GPS signal transmitter is arranged on the water surface, so that the position coordinates of the underwater vehicle can be indirectly measured, and the problems that a traditional underwater vehicle cannot obtain accurate underwater coordinates, and a base line positioning device is high in price and cannot be popularized are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft communication buoys, and in particular to an emergency positioning communication buoy device and method for small underwater aircraft. Background Art

[0002] The development of underwater vehicle technology lags behind that of land-based vehicles. Because radio signals attenuate severely underwater, current underwater vehicles that use radio transmission to receive control commands from base stations cannot travel too far from the base stations on land. This limits their range and hinders underwater tracking and exploration. Furthermore, using wired transmission methods such as cables is prone to uncontrollable accidents due to the complex underwater environment.

[0003] The underwater communication environment is complex. Compared with the aerial communication environment, the signal interference is strong and the attenuation is fast. Traditional underwater vehicles cannot obtain accurate underwater coordinates. Finding the precise location of underwater vehicles is difficult, time-consuming and labor-intensive. In addition, the use of baseline positioning devices is expensive and cannot be promoted. Although acoustic positioning can provide relatively accurate location information, it requires the deployment of multiple beacons underwater. The preliminary preparation work is complicated and costly. In addition, the beacons are affected by factors such as water flow and marine life, and their positions may shift, thereby reducing positioning accuracy. In areas with complex deep-sea terrain, acoustic positioning signals may also be interrupted by terrain obstruction, seriously affecting the navigation reliability and operational safety of underwater vehicles. To this end, a small underwater vehicle emergency positioning communication buoy device and method are provided. Summary of the Invention

[0004] The purpose of the present invention is to provide an emergency positioning communication buoy device and method for small underwater vehicles in order to solve the problems raised by the above-mentioned background technology in view of the defects of the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a small underwater vehicle emergency positioning and communication buoy device, comprising an underwater vehicle and an emergency self-rescue device mounted on the underwater vehicle, wherein a motor is installed inside the emergency self-rescue device, the output shaft of the motor being connected to a rope roller in a rope box, a fiber optic rope being wound around the rope roller, one end of the fiber optic rope being connected to a buoy device, two partitions being installed inside the buoy device, the two partitions dividing the buoy device into three cavities, namely, cavity A, cavity B, and cavity C from top to bottom, a battery B being installed at the bottom of cavity B, an electric ejection device being installed at the bottom of cavity A, a micro beacon being provided at the top of the electric ejection device, a GPS positioning and communication device being also installed at the bottom of cavity A, a flexible solar panel being installed at the top of the buoy device, two through holes being provided on the flexible solar panel, one for ejecting the micro beacon and the other for mounting a jellyfish-type luminous warning light, high-resolution cameras being installed on both sides of the exterior of cavity A, and a turbine being installed at the bottom of cavity C.

[0006] As an optimal technical solution of the present invention, the emergency self-rescue device adopts a frame formed by welding a bottom plate, side plates and a top plate. The bottom plate, side plates and top plate are all corrosion-resistant aluminum alloys. The motor and the traction rope box are both installed on the bottom plate. The bottom plate is also equipped with a battery A, and the side plate is equipped with a relay.

[0007] As a preferred technical solution of the present invention, a hole is provided on the top plate for allowing the optical fiber rope to pass through, and the diameter of the hole is larger than the diameter of the buoy device.

[0008] As a preferred technical solution of the present invention, fixed lock buckles are welded on the bottom side surfaces of the emergency self-rescue device for fixed connection with the underwater vehicle.

[0009] As a preferred technical solution of the present invention, the relay is electrically connected to the battery A and the motor respectively.

[0010] As a preferred technical solution of the present invention, the battery B is electrically connected to the GPS positioning communication device, the jellyfish-type luminous warning light, the high-resolution camera and the electric ejection device through the controller, and the flexible solar panel is electrically connected to the battery B through the controller.

[0011] A method for using the above-mentioned emergency positioning and communication buoy device for small underwater vehicles comprises the following specific steps:

[0012] Step 1: Ground personnel issue control;

[0013] Step 2: The relay is closed, forming a circuit, and the motor rotates to allow the rope roller in the rope box to release the optical fiber rope;

[0014] Step 3: The buoy begins to rise, the turbine operates to adjust the buoyancy, and the high-resolution camera operates to monitor the surrounding environment;

[0015] Step 4: The buoy device surfaces, the motor stops working, the jellyfish-style luminous warning light flashes, and the micro beacon pops up;

[0016] Step 5: The GPS positioning communication device transmits the location information to the ground and confirms whether there is a jettison instruction. If yes, the jettison instruction is executed. If not, the device is recovered.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention sets a buoy on the water surface that moves with the underwater vehicle and has a built-in GPS signal transmitter, thereby indirectly measuring the position coordinates of the underwater vehicle, avoiding the problems of traditional underwater vehicles being unable to obtain accurate underwater coordinates and the high cost and non-promotion of baseline positioning devices.

[0019] When an underwater vehicle fails, the emergency self-rescue device is activated, the relay is closed, the motor starts to rotate, and the fiber optic rope can be released smoothly through the rope-pulling device. The buoy begins to rise and adjusts its own buoyancy through the turbine at the bottom. When the buoyancy is not large enough, the turbine works to remove the water in the water tank. When the buoyancy is too large, the turbine draws water into the water tank to reduce its own buoyancy. High-resolution cameras and edge computing modules are installed on both sides of the buoy. Using deep learning algorithms, by identifying water surface features (such as landmark buildings, specific waters or markers) or underwater features (such as seabed topography, man-made facilities), combined with pre-stored map data, it assists in correcting positioning information and improves positioning accuracy in complex environments.

[0020] When the buoy surfaces, the electric ejection device is activated to eject the micro beacon, increasing the coverage signal range. At the same time, the jellyfish-like warning light flashes to assist in determining the location at night.

[0021] Flexible solar panels are integrated on the surface of the buoy, which provide stable electricity under lighting conditions to ensure the long-term stable operation of the buoy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of the emergency self-rescue device of the present invention installed on an underwater vehicle;

[0023] Figure 2 It is a structural schematic diagram of the emergency self-rescue device of the present invention;

[0024] Figure 3 It is a side view of the emergency self-rescue device of the present invention;

[0025] Figure 4 It is a schematic diagram of a half-section three-dimensional structure of the buoy device of the present invention;

[0026] Figure 5 Schematic diagram of the internal structure of the buoy device of the present invention;

[0027] Figure 6 Flow chart of the method of the present invention.

[0028] In the figure: 1. Emergency self-rescue device; 2. Underwater vehicle; 101. Bottom plate; 102. Battery A; 103. Motor; 104. Buoy device; 105. Side plate; 106. Top plate; 107. Relay; 108. Tow rope box; 109. Fiber optic rope; 110. Fixed lock;

[0029] 1041. Flexible solar panel; 1042. High-resolution camera; 1043. Micro beacon; 1044. Jellyfish-style luminous warning light; 1045. GPS positioning and communication device; 1046. Electric ejection device; 1047. Battery B; 1048. Turbine. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0031] Example: See Figure 1-5The present invention provides a technical solution: an emergency positioning and communication buoy device for a small underwater vehicle, comprising an underwater vehicle 2 and an emergency self-rescue device 1 installed on the underwater vehicle 2, wherein a motor 103 is installed inside the emergency self-rescue device 1, and the output shaft of the motor 103 is connected to a rope roller in a rope box 108, and an optical fiber rope 109 is wound around the rope roller, and one end of the optical fiber rope 109 is connected to a buoy device 104, and two partitions are installed inside the buoy device 104, which divide the buoy device 104 into three cavities, namely, cavity A, cavity B and cavity C from top to bottom, a battery B1047 is installed at the bottom of cavity B, an electric ejection device 1046 is installed at the bottom of cavity A, and a micro beacon 1043 is provided on the top of the electric ejection device 1046 (when the buoy device 104 floats to the surface, the electric ejection device 1046 will eject the micro beacon 1043). A beacon 1043 pops up to expand signal coverage. A GPS positioning and communication device 1045 is also installed at the bottom of cavity A. A flexible solar panel 1041 is mounted on top of the buoy 104. Two through-holes are provided in this flexible solar panel 1041: one for the micro-beacon 1043 to pop up, and the other for the installation of a jellyfish-like luminous warning light 1044. (When the buoy surfaces, the warning light flashes, allowing nighttime workers to locate the buoy.) High-resolution cameras 1042 are installed on both sides of cavity A. The controller of these high-resolution cameras incorporates an edge computing module. By identifying surface features (such as landmarks, specific water areas, or markers) or underwater features (such as seabed topography and man-made structures), combined with pre-stored map data, this system assists in correcting positioning information and improving positioning accuracy in complex environments. Using models such as convolutional neural networks (CNNs) and recurrent neural networks (RNNs), environmental features (such as texture, geometry, and signal fingerprints) are automatically extracted from multi-source heterogeneous data (such as camera video, radar point clouds, and Wi-Fi signals). The positioning model is trained using massive amounts of annotated data (such as indoor maps and outdoor street scenes) to learn the patterns of signal propagation in complex environments (such as multipath interference and occlusion). Deep learning is combined with traditional positioning technologies (such as GPS and inertial navigation units (IMUs)) to achieve multimodal data fusion through algorithms such as Kalman filtering, improving positioning accuracy. A water turbine 1048 is installed at the bottom of cavity C. This water turbine 1048 determines whether cavity C is connected to the outside world. Water turbine 1048 is used to increase buoyancy by removing water from the water tank or to reduce buoyancy by drawing water into the water tank. Water turbine 1048 is a micro-turbine.

[0032] The emergency self-rescue device 1 adopts a frame formed by welding a bottom plate 101, a side plate 105 and a top plate 106. The bottom plate 101, the side plate 105 and the top plate 106 are all made of corrosion-resistant aluminum alloy. The motor 103 and the rope box 108 are both installed on the bottom plate 101. The battery A102 is also installed on the bottom plate 101, and a relay 107 is installed on the side plate 105, which is used to close the circuit to form a path so that the motor 103 can be connected to the power supply to work.

[0033] The top plate 106 is provided with a hole through which the optical fiber string 109 can pass. The diameter of the hole is larger than the diameter of the buoy device 104, so that the buoy device 104 can be placed in the hole.

[0034] The bottom and side surfaces of the emergency self-rescue device 1 are welded with fixed lock buckles 110 for being fixedly connected to the underwater vehicle 2 .

[0035] The relay 107 is electrically connected to the battery A 102 and the motor 103 respectively. When the relay 107 is closed, a circuit is formed and the motor 103 starts to operate.

[0036] The battery B1047 is electrically connected to the GPS positioning communication device 1045, the jellyfish-type luminous warning light 1044, the high-resolution camera 1042 and the electric ejection device 1046 through the controller, and the flexible solar panel 1041 is electrically connected to the battery B1047 through the controller.

[0037] like Figure 6 As shown, a method for using the above-mentioned emergency positioning and communication buoy device for a small underwater vehicle includes the following specific steps:

[0038] Step 1: Ground personnel issue control;

[0039] Step 2: The relay 107 is energized to form a circuit, and the motor 103 rotates to allow the rope roller in the rope box 108 to release the optical fiber rope 109;

[0040] Step 3: The buoy device 104 begins to float upward, the turbine 1048 operates to adjust the buoyancy, and the high-resolution camera 1042 operates to monitor the surrounding environment;

[0041] Step 4: The buoy device 104 surfaces, the motor 103 stops working, the jellyfish-like luminous warning light 1044 flashes, and the micro beacon 1043 pops out;

[0042] Step 5: The GPS positioning communication device 1045 transmits the location information to the ground and confirms whether there is a jettison instruction. If yes, the jettison instruction is executed; otherwise, the device is recovered.

[0043] Working Principle: This device is an emergency positioning and communication buoy device for small underwater vehicles. Compared to traditional communication cables, which are relatively thick, this device uses a new fishing line-based optical fiber rope 109 with a diameter of approximately 0.4 mm and a certain degree of toughness. The surface has a corrosion-resistant coating, making it less susceptible to damage by marine organisms and seawater corrosion. The traditional cable is replaced with a new fishing line-based optical fiber rope. This is resistant to bending and hydrolysis, reduces resistance, and is tensile and wear-resistant. It is suitable for underwater vehicles with a standard weight greater than 28 kg (ballast blocks are adjusted according to buoyancy) and an operating depth of 300 m. The weight of the underwater vehicle itself is reduced to facilitate recovery.

[0044] The buoy device 104 includes a jellyfish-like luminous warning light 1044 and a GPS positioning communication device 1045. It uses antenna technology to enhance the stability and distance of signal transmission between the underwater and surface areas, making it easier for operators to locate and issue commands to underwater vehicles.

[0045] The buoy device 104 has a water tank that cooperates with a micro-turbine to control water inlet and outlet to adjust the buoy and prevent the buoy from floating up too fast or too slow; the buoy has a small battery compartment to power the high-resolution camera and the jellyfish-type warning light, and supports solar charging. The jellyfish-type warning light is used to mark the position of the buoy at night or in low light environments; the device has an automatic line arrangement function, and the rotation of the rope roller driven by the motor 103 and the upward buoyancy of the buoy device 104 can make the buoy device 104 rise steadily to avoid entanglement; the buoy device itself has a detection device, When the buoy is detected surfacing, a signal is sent back to the motor 103 via the fiber optic cord 109, stopping the pull roller. This prevents motor 103 from releasing too much fiber optic cord 109 in the submerged area, causing the buoy to drift away due to waves or strong winds, potentially deviating from its precise position. Multiple communication channels ensure an effective communication link even in complex environments. An electric ejection device ejects a microbeacon 1043, extending the signal range. High-resolution cameras are installed on both sides of the buoy, enabling observation of surrounding environmental features. A jellyfish-like warning light 1044 facilitates visual positioning of the buoy at night. A flexible solar panel 1041 is installed on the top of the buoy to replenish battery B 1047. The buoy 104's shell features a sharkskin surface treatment for reduced drag, minimizing the buoy's upward movement.

[0046] The underwater vehicle 2 has a jettisoning function. In the event of a malfunction, the underwater vehicle can jettison its own load, reducing its weight and facilitating recovery. However, this jettisoning command requires an onshore command. Therefore, a jettisoning signal is sent to the underwater vehicle via a communication transceiver, causing the underwater vehicle to release its own battery to reduce its own load. Because radio signals are severely attenuated underwater, the present invention places the communication transceiver within a sealed buoy, effectively protecting the components within. When the underwater vehicle malfunctions, the automatic recovery function is activated, driving the motor 103 to rotate, releasing the fiber optic line 109, which is made of fishing line, and allowing the GPS positioning communication device 1045 in the buoy to surface. This solves the problem of weak underwater radio signals. The fiber optic line transmits commands from the buoy to the underwater vehicle, allowing the base station on land to communicate better with the underwater vehicle, allowing the underwater vehicle 2 to more accurately receive the jettisoning command from the base station on land.

[0047] The above embodiments merely illustrate the implementation methods of the present invention. Although the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the scope of the present invention, and these modifications and improvements fall within the scope of protection of the present invention.

Claims

1. An emergency positioning and communication buoy device for a small underwater vehicle, comprising an underwater vehicle (2) and an emergency self-rescue device (1) mounted on the underwater vehicle (2), characterized in that: The emergency self-rescue device (1) is internally installed with a motor (103), the output shaft of the motor (103) is connected to a rope roller in a rope box (108), an optical fiber rope (109) is wound around the rope roller, one end of the optical fiber rope (109) is connected to a buoy device (104), and two partitions are installed inside the buoy device (104), which divide the buoy device (104) into three cavities, namely, cavity A, cavity B and cavity C from top to bottom, a battery B (1047) is installed at the bottom of cavity B, and an electric ejection device (1046) is installed at the bottom of cavity A. A micro beacon (1043) is provided on the top of the electric ejection device (1046), a GPS positioning communication device (1045) is also installed on the bottom of the cavity A, a flexible solar panel (1041) is installed on the top of the buoy device (104), and two through holes are provided on the flexible solar panel (1041), one through hole is used for the micro beacon (1043) to be ejected, and the other through hole is used for installing a jellyfish-type luminous warning light (1044), high-resolution cameras (1042) are installed on both sides of the outside of the cavity A, and a turbine (1048) is installed at the bottom of the cavity C.

2. The emergency positioning and communication buoy device for small underwater vehicles according to claim 1, characterized in that: The emergency self-rescue device (1) adopts a frame body formed by welding a bottom plate (101), a side plate (105) and a top plate (106); the bottom plate (101), the side plate (105) and the top plate (106) are all made of corrosion-resistant aluminum alloy; the motor (103) and the traction rope box (108) are both installed on the bottom plate (101); the bottom plate (101) is also installed with a battery A (102); and the side plate (105) is installed with a relay (107).

3. The emergency positioning and communication buoy device for small underwater vehicles according to claim 2, characterized in that: The top plate (106) is provided with a hole through which the optical fiber string (109) can pass, and the diameter of the hole is larger than the diameter of the buoy device (104).

4. The emergency positioning and communication buoy device for small underwater vehicles according to claim 2, characterized in that: The bottom side surfaces of the emergency self-rescue device (1) are both welded with fixed lock buckles (110) for being fixedly connected to the underwater vehicle (2).

5. The emergency positioning and communication buoy device for small underwater vehicles according to claim 2, characterized in that: The relay (107) is electrically connected to the battery A (102) and the motor (103) respectively.

6. The emergency positioning and communication buoy device and method for small underwater vehicles according to claim 1, characterized in that: The battery B (1047) is electrically connected to the GPS positioning communication device (1045), the jellyfish-type luminous warning light (1044), the high-resolution camera (1042) and the electric ejection device (1046) through the controller, and the flexible solar cell panel (1041) is electrically connected to the battery B (1047) through the controller.

7. A method for using the emergency positioning and communication buoy device for a small underwater vehicle according to any one of claims 1 to 6, characterized in that: The specific steps are as follows: Step 1: Ground personnel issue control; Step 2: The relay (107) is closed to form a path, and the motor (103) rotates to allow the rope roller in the rope box (108) to release the optical fiber rope (109); Step 3: The buoy device (104) starts to float upward, the turbine (1048) works to adjust the buoyancy, and the high-resolution camera (1042) works to monitor the surrounding environment; Step 4: The buoy device (104) surfaces, the motor stops working, the jellyfish-type luminous warning light (1044) flashes, and the micro beacon (1043) pops out; Step 5: The GPS positioning communication device (1045) transmits the location information to the ground and confirms whether there is a jettison instruction. If yes, the jettison instruction is executed. If not, the device is recovered.

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